WO2024055473A1 - Procédé et appareil de positionnement, dispositif électronique et support de stockage associés - Google Patents

Procédé et appareil de positionnement, dispositif électronique et support de stockage associés Download PDF

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Publication number
WO2024055473A1
WO2024055473A1 PCT/CN2022/143152 CN2022143152W WO2024055473A1 WO 2024055473 A1 WO2024055473 A1 WO 2024055473A1 CN 2022143152 W CN2022143152 W CN 2022143152W WO 2024055473 A1 WO2024055473 A1 WO 2024055473A1
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Prior art keywords
vehicle
positioning
positioning information
base station
positioning data
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PCT/CN2022/143152
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English (en)
Chinese (zh)
Inventor
蒋成
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北京易控智驾科技有限公司
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Priority to AU2022453597A priority Critical patent/AU2022453597B2/en
Publication of WO2024055473A1 publication Critical patent/WO2024055473A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning

Definitions

  • the present disclosure relates to the field of positioning technology, and in particular, to a positioning method, device, electronic equipment and computer-readable storage medium.
  • Open-pit mining is a process of removing the covering on the ore body to obtain the required minerals.
  • the production process includes drilling, blasting, mining, transportation, earth dumping and other operations.
  • driverless mine trucks With the development of driverless technology, the application of driverless mine trucks has emerged.
  • operations such as loading, transportation, and soil removal are mainly completed by driverless mine trucks.
  • RTK technology Real-Time Kinematic carrier phase difference technology
  • GNSS Global Navigation Satellite System
  • a base station and a mobile station for example, an unmanned mine car
  • the base station sends satellite positioning data in real time at a certain transmission frequency through its built-in or plug-in radio station
  • the mobile station receives satellite positioning data in real time at the corresponding transmission frequency through its built-in or plug-in radio station, and performs RTK carrier Phase difference processing to obtain high-precision positioning data.
  • RTK technology In the existing technology, RTK technology must rely on densely deployed base stations, resulting in high construction and maintenance costs of the base stations; in addition, in remote areas or areas with complex geographical environments such as mines and tunnels, the deployment of base stations is very difficult, making it difficult to achieve real-time and accurate positioning. Furthermore, during the transmission of satellite positioning data, the built-in or external radio station may be affected by the electromagnetic environment and/or obstacles between the base station and the unmanned mining vehicle, resulting in the unmanned mining vehicle being unable to receive satellite positioning data in real time, thereby affecting the positioning stability and work efficiency of the unmanned mining vehicle.
  • embodiments of the present disclosure provide a positioning method, device, electronic equipment and computer-readable storage medium to solve the problem that unmanned mine trucks in the existing technology cannot receive satellite positioning data in real time. Issues that affect the positioning stability and work efficiency of driverless mine cars.
  • a first aspect of the embodiment of the present disclosure provides a positioning method, including: receiving first positioning data sent by a base station through a radio, wherein the radio station is set up within a preset range of the base station and is located between the base station and the first vehicle. between the working areas; using real-time dynamic carrier phase difference technology to process the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle.
  • a second aspect of the embodiment of the present disclosure provides a positioning device, including: a receiving module configured to receive first positioning data sent by a base station through a radio, wherein the radio is set up within a preset range of the base station and located Between the base station and the operating area of the first vehicle; the processing module is configured to use real-time dynamic carrier phase difference technology to process the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle .
  • a third aspect of the embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, the steps of the above method are implemented.
  • a fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps of the above method are implemented.
  • At least one of the above technical solutions adopted in the embodiment of the present disclosure can achieve the following beneficial effects: by receiving the first positioning data sent by the base station through the radio, wherein the radio station is set up within the preset range of the base station and is located between the base station and the first vehicle. between the operating areas; use real-time dynamic carrier phase difference technology to process the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle, which can be done without increasing the construction cost and maintenance of the base station.
  • the first vehicle can obtain centimeter-level positioning accuracy in a short period of time at a low cost, thereby improving the positioning stability of the first vehicle and further improving the working efficiency of the first vehicle.
  • Figure 1 is a schematic diagram of the overall architecture involved in actual application scenarios of positioning methods based on traditional RTK technology in related technologies
  • Figure 2 is a schematic diagram of the overall architecture involved in a practical application scenario of a positioning method provided by an embodiment of the present disclosure
  • Figure 3 is a schematic flowchart of a positioning method provided by an embodiment of the present disclosure.
  • Figure 4 is a schematic diagram of the overall architecture of another positioning method provided by an embodiment of the present disclosure in an actual application scenario
  • Figure 5 is a schematic flowchart of another positioning method provided by an embodiment of the present disclosure.
  • Figure 6 is a schematic diagram of the overall architecture involved in yet another positioning method provided by an embodiment of the present disclosure in an actual application scenario
  • Figure 7 is a schematic flowchart of yet another positioning method provided by an embodiment of the present disclosure.
  • Figure 8 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
  • first, second, third, etc. may be used in this disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • word “if” as used herein may be interpreted as "when” or “when” or “in response to determining.”
  • network RTK technology is proposed.
  • the linearly attenuated single-point GPS error model is replaced by the regional GPS network error model, that is, a GPS network composed of multiple base stations is used to estimate the GPS error model of a region and provide the model for the network coverage area.
  • User provides correction data. What the user receives is not the data of an actual base station, but the data of a virtual base station and the correction data of a reference grid closer to his position. Therefore, network RTK technology is also called a virtual reference station. (Virtual Reference Station, VRS) technology.
  • VRS Virtual Reference Station
  • network RTK services are usually unavailable because a continuous operating satellite positioning and navigation service system (Continuous Operational Reference System, CORS) has not been established.
  • CORS Continuous Operational Reference System
  • Figure 1 is a schematic diagram of the overall architecture involved in actual application scenarios of positioning methods based on traditional RTK technology in related technologies.
  • the system architecture in this application scenario mainly includes the following contents:
  • the GPS receiver of the base station 10 observes and receives the satellite signal sent by at least one satellite 11 through the antenna, and measures the three-dimensional coordinates of the location of the base station 10 based on the received satellite signals (it should be noted that the three-dimensional coordinates are single-point solutions , that is, inaccurate value), and transmit the carrier phase observation value, station coordinate information, etc.
  • the mobile station located near the base station 10 (corresponding to Figure 1 While observing at least one satellite 11, the GPS receiver of the unmanned minecart 12) also receives the radio signal from the base station 10, and combines the received two sets of carrier phase observations (i.e., the satellite signal and radio signals), and based on the principle of relative positioning, the three-dimensional coordinates of the location of the unmanned mine car 12 are calculated in real time.
  • the carrier phase observations i.e., the satellite signal and radio signals
  • the existing RTK positioning is to set up a base station with known coordinates and set up in an open environment.
  • the base station transmits the carrier phase observations to the mobile station through the data link; the mobile station receives the carrier phase observations from the base station. And combine it with its own carrier phase observation value to obtain the differential correction value, and then use the differential correction value to correct the positioning result of the mobile station's GPS receiver to obtain the precise position of the mobile station.
  • this positioning method is only applicable when the distance between the base station and the mobile station is relatively close (for example, no more than 15 kilometers) and there are no large obstacles between the base station and the mobile station. It cannot guarantee that the distance between the base station and the mobile station will be relatively close. The same is true for long distances (e.g., more than 15 kilometers) and/or when there are large obstacles between the base station and the mobile station.
  • FIG. 2 is a schematic diagram of the overall architecture involved in a practical application scenario of a positioning method provided by an embodiment of the present disclosure.
  • the system architecture in this application scenario mainly includes the following contents:
  • a radio station 21 is set up within a preset range of the reference station 20, and the radio station 21 is located between the reference station 20 and the operating area 221 of the unmanned mine car 22; the GPS receiver of the reference station 20 receives satellite positioning data sent by at least one satellite 23, and sends the received satellite positioning data to the unmanned mine car 22 operating in the operating area 221 in real time through the radio station 21; after the GPS receiver of the unmanned mine car 22 receives the satellite positioning data, the unmanned mine car 22 processes the current positioning data and the satellite positioning data based on the current positioning data of the unmanned mine car 22 and the satellite positioning data using the RTK technology to obtain the precise positioning information of the unmanned mine car 22, that is, the three-dimensional coordinates of the unmanned mine car 22.
  • the specific types, quantities, and combinations of the base station 20, the radio station 21, the satellite 23, and the driverless minecart 22 can be adjusted according to the actual needs of the application scenario, and the embodiments of the present disclosure do not limit this.
  • the unmanned mine car by setting up the radio station within the preset range of the base station and positioning the radio station between the base station and the operating area of the unmanned mine car, it is possible to reduce the construction cost and cost of the base station without increasing the Under the condition of maintenance cost, the unmanned mine car can obtain centimeter-level positioning accuracy in a very short time. Therefore, it solves the problem of the existing base station transmitting satellite positioning data through its built-in or plug-in radio station. It may be affected by the electromagnetic environment and/or obstacles between the base station and the unmanned mine car, causing the unmanned mine car to be unable to receive satellite positioning data in real time, thus affecting the positioning stability of the unmanned mine car. issues of performance and work efficiency.
  • FIG 3 is a schematic flowchart of a positioning method provided by an embodiment of the present disclosure.
  • the positioning method in Figure 3 can be executed by the electronic device in the unmanned mine car 22 in Figure 2 .
  • the positioning method includes:
  • S301 Receive the first positioning data sent by the base station through the radio, where the radio is installed within the preset range of the base station and is located between the base station and the operating area of the first vehicle;
  • S302 Use real-time dynamic carrier phase difference technology to process the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle.
  • a radio station is set up within the preset range of the base station, and the radio station is located between the base station and the operating area of the first vehicle; when the GPS receiver of the base station observes and collects the satellite sent by at least one satellite in the GNSS When positioning data, the base station uses the collected satellite positioning data as the first positioning data and sends it in real time through the radio station; further, after the first vehicle's GPS receiver receives the first positioning data, the first vehicle obtains The current positioning data of the first vehicle is calculated and processed using RTK technology to obtain the first positioning information of the first vehicle.
  • the reference station is a fixed ground observation station that performs long-term continuous observation of satellite signals and transmits satellite observation data to the data center in real time or regularly by communication facilities.
  • the base station can be a physical station set up at a fixed location that meets the conditions for base station erection, or it can be a virtual base station generated through VRS technology.
  • Mobile Station is a detection station set up on equipment that can move within a certain range of the base station.
  • the base station can be fixedly installed on some open space around the operating area of the unmanned mine car that meets the conditions for the erection of the base station.
  • the mobile station can be installed on the unmanned mine car, or it can be the unmanned mine car.
  • the person drives the minecart itself.
  • both base stations and mobile stations will observe certain satellites in GNSS and obtain corresponding satellite observation data.
  • Radio is a wireless terminal device for point-to-multipoint communication.
  • the radio station may be a general communication data transmission radio station or a long-distance communication data transmission radio station that supports long-distance communication.
  • the embodiments of the present disclosure are not limited to this.
  • the radio in order to avoid unstable signal quality due to signal interference, can be set up within a range of 500 meters from the base station.
  • the preset range refers to the effective coverage range of the base station, that is, the area formed by the longest distance that the wireless signal transmitted by the base station can be transmitted as the radius.
  • the base station can be set up 15 kilometers away from the mobile station. Within the range; when using network RTK technology, multiple base stations can be set up within a range of 50 kilometers to 100 kilometers from the mine car's operating area. Therefore, the distance between the mobile station and the nearest base station may exceed 15 kilometer.
  • the first vehicle may be an ordinary vehicle driving in the mining area that can obtain satellite observation data and the precise location of the vehicle itself, or it may be a vehicle with autonomous driving capabilities. Generally speaking, the first vehicle only needs to have the function of providing satellite observation data obtained by the GPS receiver and the precise position of the vehicle itself.
  • ordinary vehicles can also serve as the first vehicle, considering the factors of cost and scenario, advanced vehicles Vehicles with autonomous driving functions can perform the corresponding acquisitions fully automatically and therefore are more suitable as first vehicles.
  • the first vehicle is an unmanned mine car or an autonomous mine car.
  • the operation area refers to the area where the first vehicle is located during loading, transportation, earth dumping and other operations in the mining area, that is, the area range that the first vehicle can identify along the direction of travel.
  • the working area can be in a closed space, an open space, or an unopened space environment. Enclosed spaces can be, for example, mining environments, which can be divided into loading areas, dumpsites, roads, and unclassified areas based on actual operating conditions.
  • RTK technology is a differential method that processes the carrier phase observations of two measurement stations in real time.
  • the carrier phase collected by the base station is sent to the user receiver for differential calculation of coordinates.
  • the key to RTK technology is to use the carrier phase observations of GPS and use the spatial correlation of the observation errors between the base station and the mobile station to remove most of the errors in the satellite observation data of the mobile station through differential methods, thereby achieving high Positioning with precision (decimeters or even centimeters).
  • the first positioning data is satellite observation data collected from at least one satellite in the GNSS by the GPS receiver of the base station.
  • the first positioning data may include one or more information such as the number of satellites, satellite numbers, Dilution of Precision (DOP), terminal equipment location, base station location, and other information.
  • the current positioning data is the positioning data currently being used by the first vehicle.
  • the first positioning information is positioning information obtained by RTK calculation based on the first positioning data and the current positioning data, including but not limited to the longitude information, latitude information, positioning time information, satellite elevation angle information and signal-to-noise of the location of the first vehicle. than information.
  • the radio station by receiving the first positioning data sent by the base station through the radio, where the radio station is set up within the preset range of the base station and is located between the base station and the operating area of the first vehicle; using The real-time dynamic carrier phase difference technology processes the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle, which can enable the third positioning information without increasing the construction cost and maintenance cost of the base station.
  • the first vehicle obtains centimeter-level positioning accuracy in a very short time, thus improving the positioning stability of the first vehicle and further improving the work efficiency of the first vehicle.
  • the positioning method further includes: receiving second positioning information sent by the cloud server through the second base station, wherein the second positioning information is the cloud server using real-time dynamic carrier phase difference technology to compare the second positioning data and the third
  • the second positioning data is obtained by processing the positioning data.
  • the second positioning data is uploaded by the base station through the first base station.
  • the third positioning data is uploaded by the first vehicle through the second base station. Based on the first positioning data received within the preset time interval. The sequence of the information and the second positioning information determines whether the first positioning information or the second positioning information is the target positioning information of the first vehicle.
  • the base station uses the collected satellite observation data as second positioning data and uploads it in real time through the first base station.
  • the first vehicle uses the acquired current positioning data of the first vehicle as the third positioning data, and uploads it to the cloud server in real time through the second base station; after receiving the second positioning data and the third positioning data,
  • the cloud server uses RTK technology to solve and process the second positioning data and the third positioning data to obtain the second positioning information, and sends the second positioning information to the first vehicle through the second base station; further, the first vehicle can According to the sequence of the first positioning information and the second positioning information received within the preset time interval, the first positioning information or the second positioning information is determined as the target positioning information of the first vehicle.
  • the cloud server can be an independent physical cloud server, or a cloud server cluster or distributed system composed of multiple physical cloud servers, or it can also provide cloud database, cloud storage, cloud computing, cloud Servers for basic cloud computing services such as communications.
  • a cloud server refers to a server that runs in the cloud and has functions such as RTK resolution.
  • Base Station that is, a public mobile communication base station, refers to a radio transceiver station that transmits information between a mobile communication switching center and a mobile phone terminal in a certain radio coverage area.
  • the first base station refers to a base station installed within a preset range of the base station and between the base station and the cloud server
  • the second base station refers to a base station installed within the operating area of the first vehicle.
  • the first base station can be installed within a range of no more than 500 meters from the base station.
  • the type and number of the first base station and the second base station can be adjusted according to the actual needs of the application scenario, and this is not limited in the embodiments of the present disclosure.
  • the preset time interval may be a time interval preset by the user based on experience data, or may be a time interval obtained after the user adjusts the set time interval according to actual needs.
  • the embodiments of the present disclosure do not limit this.
  • the preset time interval can be anywhere from 1 millisecond to 10 milliseconds. Preferably, in the embodiment of the present disclosure, the preset time interval is 5 milliseconds.
  • the second positioning data is satellite observation data collected from at least one satellite in the GNSS by the GPS receiver of the base station.
  • the third positioning data is the current positioning data of the first vehicle.
  • the second positioning information is positioning information obtained by RTK calculation based on the second positioning data and the third positioning data, including but not limited to the longitude information, latitude information, positioning time information, satellite elevation angle information and signal of the first vehicle's location. Noise ratio information.
  • the cloud server by using the cloud server to perform RTK calculations on the second positioning data uploaded by the base station and the third positioning data uploaded by the first vehicle, the calculation amount of the first vehicle can be reduced, and the calculation amount of the first vehicle can be reduced.
  • the computing pressure of one vehicle improves the working efficiency of the first vehicle.
  • the second positioning information is calculated based on the positioning data uploaded by the base station and the first vehicle, the validity and accuracy of the positioning information are ensured.
  • the second positioning information includes target positioning information of at least one second vehicle in the work area
  • the positioning method further includes: when it is determined that the second positioning information is the target positioning information of the first vehicle, The second positioning information is sent to the second vehicle closest to the first vehicle among the at least one second vehicle.
  • the first vehicle may select the closest vehicle from the at least one second vehicle. of the second vehicle, and sends the second positioning information to the second vehicle. Since the second positioning information includes the target positioning information of the second vehicle, the second vehicle can be positioned based on the second positioning information.
  • the target positioning information may include but is not limited to longitude information, latitude information, positioning time information, satellite elevation angle information and signal-to-noise ratio information of the location of the second vehicle.
  • the second vehicle can be an ordinary vehicle driving in the mining area that can obtain satellite observation data and the precise position of the vehicle itself, or it can be a vehicle with autonomous driving functions, or it can also be an autonomous driving fleet composed of vehicles with autonomous driving functions.
  • a vehicle network that is, a fleet local area network, can be constructed based on the first vehicle and the multiple second vehicles.
  • the vehicle network refers to a network that performs wireless communication and information exchange between vehicles and objects (such as cars, pedestrians, roadside equipment, and the Internet) according to communication protocols and data interaction standards.
  • Vehicle network communication may include but is not limited to Vehicle-to-Vehicle (V2V), Vehicle-to-Network (V2N), Vehicle-to-Infrastructure (V2I), Vehicle-to-Cloud Vehicle-to-People (V2P) and WiFi.
  • V2V Vehicle-to-Vehicle
  • V2N Vehicle-to-Network
  • V2I Vehicle-to-Infrastructure
  • V2P Vehicle-to-Cloud Vehicle-to-People
  • WiFi Wireless Fidelity
  • the vehicle information sharing capability is improved, and the vehicle's perception capability is further improved.
  • sending the second positioning information to the second vehicle of the at least one second vehicle that is closest to the first vehicle includes: obtaining the current location of each of the at least one second vehicle, and Calculate the first distance between the current position of the first vehicle and the current position of the second vehicle respectively; select the second vehicle corresponding to the minimum distance among all the first distances as the first target vehicle, and use the second positioning information Sent to the first target vehicle.
  • the first vehicle after receiving the second positioning information issued by the cloud server, the first vehicle obtains the current position of each second vehicle in the at least one second vehicle, and calculates the first vehicle's current position based on the current position of the first vehicle. The first distance between the first vehicle and the second vehicle; further, the first vehicle selects the second vehicle corresponding to the minimum distance from all the calculated first distances as the first target vehicle, and sends the second positioning information to the first target vehicle. target vehicle.
  • the ability to share vehicle information and the transmission speed of vehicle information can be improved. Therefore, the positioning stability and operation of the second vehicle are improved. efficiency.
  • the positioning method further includes: obtaining the current position of each of the at least one other second vehicle in the at least one second vehicle, and respectively calculating the current position of the first target vehicle and the other second vehicles. the second distance between the current positions of the second vehicles; select other second vehicles corresponding to the minimum distance among all second distances as the second target vehicle, send the second positioning information to the second target vehicle, and execute The above iterative processing process is performed until each of the at least one second vehicle receives the second positioning information.
  • the first target vehicle after determining the first target vehicle, obtains the current position of each of the at least one other second vehicle in the at least one second vehicle, and determines the current position of the first target vehicle based on the current position of the first target vehicle. Calculate the second distances between the first target vehicle and other second vehicles respectively; further, the first target vehicle selects the other second vehicles corresponding to the smallest second distance from all the calculated second distances as the second target. vehicle, and sends the second positioning information to the second target vehicle; and so on, until all second vehicles receive the second positioning information.
  • the sending efficiency of the second positioning information can be improved.
  • the timeliness of issuance of the second positioning information is ensured, thus improving the positioning stability and work efficiency of the second vehicle.
  • the positioning method further includes: receiving satellite positioning data sent by at least one satellite in the global navigation satellite system, and using real-time dynamic carrier phase difference technology to process the satellite positioning data and the current positioning data to obtain the first The third positioning information of the vehicle; when it is determined that the signal reception quality meets the preset quality requirements, select the third positioning information as the target positioning information of the first vehicle; when it is determined that the signal reception quality does not meet the preset quality requirements, The first positioning information is selected as the target positioning information of the first vehicle.
  • the unmanned mine car observes and collects satellite positioning data sent by at least one satellite in GNSS in real time through the GPS receiver, and based on the received satellite positioning data, the unmanned mine car is positioned based on the RTK carrier phase differential positioning principle.
  • the current positioning data is calibrated to obtain the third positioning information of the unmanned mine car.
  • the driverless mine car uses the third positioning information as the target positioning information; when it is determined that the signal reception quality does not meet the preset quality requirements, the driverless mine car The minecart uses the first positioning information as the target positioning information.
  • GNSS is a space-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the earth's surface or near-Earth space.
  • GNSS may include but is not limited to GPS, Global Navigation Satellite System (GLONASS), Galileo satellite navigation system (Galileo), BeiDou Navigation Satellite System (BDS), regional systems and Enhance the system.
  • GLONASS Global Navigation Satellite System
  • Galileo Galileo satellite navigation system
  • BDS BeiDou Navigation Satellite System
  • Enhance the system Enhance the system.
  • the satellite may be one or more of GPS satellites, GLONASS satellites, Galileo satellites, and Beidou satellites.
  • the embodiments of the present disclosure do not limit the specific type and number of satellites. Satellite positioning refers to the use of two-way communication between satellites and receivers to determine the location of the receiver, and can provide users with accurate location coordinates and related attribute characteristics in real time around the world. Satellite positioning data may include, but is not limited to, longitude data, latitude data, elevation (altitude) data, time data, and measurement accuracy data.
  • a GPS receiver installed in an unmanned minecart receives a satellite positioning signal sent by a satellite
  • the GPS receiver has a clock that is accurately synchronized with the satellite clock
  • the arrival of the satellite positioning signal can be measured. time, and then calculate the propagation time of the satellite positioning signal in space; then, multiply the propagation time by the propagation speed of the satellite positioning signal in space to calculate the distance between the GPS receiver and the satellite (also called "pseudorange") .
  • the distance between each satellite and the unmanned mine cart can be calculated separately (for example, a system of equations is listed and solved), and the unmanned mine cart can be obtained.
  • the three-dimensional coordinates of the car i.e., longitude, latitude, and elevation
  • Signal reception quality can be characterized by data such as received signal strength (Received Signal Strength Indication, RSSI), bit error rate (Symbol Error Rate, SER), and picture loss rate.
  • RSSI Receiveived Signal Strength Indication
  • SER bit error rate
  • picture loss rate the signal reception strength is an indication of the received signal strength. It measures the distance between the signal point and the receiving point through the received signal strength, and performs positioning calculations based on the corresponding data to determine the connection quality and whether to increase the broadcast transmission strength; bit error
  • the bit error rate is a measure of the accuracy of data transmission within a specified time.
  • the bit error rate bit errors during transmission/the total number of bits transmitted ⁇ 100%;
  • the image loss rate is the number of images received during the transmission process and the The ratio between the total number of images.
  • the preset quality requirements may be that the signal reception strength is greater than the first preset threshold, the bit error rate is less than the second preset threshold, and the image loss rate is less than the third preset threshold; it may also be that the signal reception strength is greater than the first preset threshold and the error rate is less than the second preset threshold. or , it may also be that the signal reception strength is greater than the first preset threshold, the bit error rate is less than the second preset threshold, and the picture loss rate is less than the third preset threshold.
  • first preset threshold, the second preset threshold and the third preset threshold can be set to the same or different values according to actual needs.
  • the wireless technology can be improved. Positioning stability of a human-driven minecart.
  • FIG. 4 is a schematic diagram of the overall architecture of another positioning method provided by an embodiment of the present disclosure in an actual application scenario.
  • the system architecture in this application scenario mainly includes the following contents:
  • the GPS receiver of the base station 40 observes and collects satellite observation data sent by at least one satellite 41 in the GNSS.
  • the base station 40 will collect the satellite observation data as the first positioning data, and send it to the satellites in the operation area 431 in real time through the radio station 42
  • the first vehicle 43 further, the base station 40 will also collect the satellite observation data as the second positioning data, and upload it to the cloud server 45 in real time through the first base station 44; the first vehicle 43 will obtain the first vehicle 43
  • the current positioning data is used as the third positioning data and is uploaded to the cloud server 45 in real time through the second base station 46; after receiving the second positioning data and the third positioning data, the cloud server 45 uses RTK technology to compare the second positioning data and the third positioning data.
  • the three positioning data are solved and processed to obtain the second positioning information, and the second positioning information is sent to the first vehicle 43 through the second base station 46; the first vehicle 43 can obtain the second positioning information according to the first positioning information received within the preset time interval.
  • the sequence of the information and the second positioning information determines the first positioning information or the second positioning information as the target positioning information of the first vehicle 43 .
  • the cloud server by using the cloud server to perform RTK calculations on the second positioning data uploaded by the base station and the third positioning data uploaded by the first vehicle, the calculation amount of the first vehicle can be reduced, and the calculation amount of the first vehicle can be reduced.
  • the computing pressure of one vehicle improves the working efficiency of the first vehicle.
  • the second positioning information is calculated based on the positioning data uploaded by the base station and the first vehicle, the validity and accuracy of the positioning information are ensured.
  • FIG. 5 is a schematic flowchart of another positioning method provided by an embodiment of the present disclosure.
  • the positioning method of Figure 5 can be executed by the electronic device in the unmanned mine car 43 of Figure 4 .
  • the positioning method includes:
  • S501 Receive the first positioning data sent by the base station through the radio, where the radio is installed within the preset range of the base station and is located between the base station and the operating area of the first vehicle;
  • S502 Use real-time dynamic carrier phase difference technology to process the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle;
  • S503. Receive the second positioning information sent by the cloud server through the second base station.
  • the second positioning information is obtained by the cloud server using real-time dynamic carrier phase difference technology to process the second positioning data and the third positioning data.
  • the second positioning information The data is uploaded by the base station through the first base station, and the third positioning data is uploaded by the first vehicle through the second base station;
  • S504 Based on the sequence of the first positioning information and the second positioning information received within the preset time interval, determine the first positioning information or the second positioning information as the target positioning information of the first vehicle.
  • the cloud server by using the cloud server to perform RTK calculations on the second positioning data uploaded by the base station and the third positioning data uploaded by the first vehicle, the calculation amount of the first vehicle can be reduced, and the calculation amount of the first vehicle can be reduced.
  • the computing pressure of one vehicle improves the working efficiency of the first vehicle.
  • the second positioning information is calculated based on the positioning data uploaded by the base station and the first vehicle, the validity and accuracy of the positioning information are ensured.
  • FIG. 6 is a schematic diagram of the overall architecture of yet another positioning method provided by an embodiment of the present disclosure in an actual application scenario.
  • the system architecture in this application scenario mainly includes the following contents:
  • the satellite observation data sent by the satellite 61 will be collected by the base station 60 as the first positioning data and sent to the first vehicle 63 in the operation area 631 in real time through the radio station 62; further, the base station 60 will also collect The satellite observation data is used as the second positioning data, and is uploaded to the cloud server 65 in real time through the first base station 64; the first vehicle 63 uses the acquired current positioning data of the first vehicle 63 as the third positioning data, and is uploaded to the cloud server 65 through the second base station. 66 is uploaded to the cloud server 65 in real time.
  • the cloud server 65 After receiving the second positioning data and the third positioning data, the cloud server 65 uses RTK technology to solve the second positioning data and the third positioning data to obtain the second positioning information, and transmits the second positioning information to the second base station 66 through the second base station 66 .
  • the positioning information is sent to the first vehicle 63; after receiving the second positioning information sent by the cloud server 65, the first vehicle 63 obtains the current positioning information of the second vehicle 67, the second vehicle 68 and the second vehicle 69 in the working area 631.
  • the first vehicle 63 calculates the first distance between the first vehicle 63 and the second vehicle 67, the second vehicle 68 and the second vehicle 69 respectively; further, the first vehicle 63 is calculated from Select the second vehicle (ie, the second vehicle 67 ) corresponding to the smallest first distance among all the first distances as the first target vehicle, and send the second positioning information to the second vehicle 67 .
  • the second vehicle 67 After determining that the second vehicle 67 is the first target vehicle, the second vehicle 67 obtains the current position of at least one other second vehicle (ie, the second vehicle 58 and the second vehicle 59 ) among the at least one second vehicle, and based on Based on the current position of the second vehicle 67, the second distances between the second vehicle 67, the second vehicle 58 and the second vehicle 69 are respectively calculated; further, the second vehicle 67 selects the smallest one from all the calculated second distances.
  • the second vehicle corresponding to the second distance ie, the second vehicle 58 ) serves as the second target vehicle and sends the second positioning information to the second vehicle 58 ; and by analogy, the second vehicle 58 sends the second positioning information to Second vehicle 59.
  • the ability to share vehicle information and the transmission speed of vehicle information can be improved; in addition, by calculating the distance between vehicles, and based on the distance Sending the second positioning information to each second vehicle one by one in order from near to far can improve the sending efficiency of the second positioning information and ensure the timeliness of the issuance of the second positioning information. Therefore, the positioning stability of the second vehicle is improved. performance and work efficiency.
  • FIG. 7 is a schematic flowchart of yet another positioning method provided by an embodiment of the present disclosure.
  • the interaction subjects involved in Figure 7 are the base station (corresponding to the base station 60 of Figure 6), the cloud server (corresponding to the cloud server 65 of Figure 6), the first vehicle (corresponding to the first vehicle 63 of Figure 6), the second vehicle (corresponding to the second vehicle 67 of FIG. 6 ) and other second vehicles (corresponding to the second vehicle 68 and the second vehicle 69 of FIG. 6 ).
  • the positioning method includes:
  • the base station receives satellite positioning data sent by at least one satellite in the GNSS, and uses the received satellite positioning data as the first positioning data, and sends it to the first vehicle in real time through the radio;
  • the base station receives the satellite positioning data sent by at least one satellite in the GNSS, and uses the received satellite positioning data as the second positioning data, and uploads it to the cloud server in real time through the first base;
  • the first vehicle uses RTK technology to solve the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information
  • the first vehicle uses the obtained current positioning data of the first vehicle as the third positioning data, and uploads it to the cloud server in real time through the second base station;
  • the cloud server uses RTK technology to solve and process the second positioning data and the third positioning data to obtain the second positioning information
  • the cloud server sends the second positioning information to the first vehicle
  • the first vehicle determines that the second positioning information is the target positioning information of the first vehicle based on the sequence of the received first positioning information and the second positioning information;
  • the first vehicle obtains the current position of each second vehicle in at least one second vehicle within the first vehicle's working area
  • the first vehicle calculates the first distance between the first vehicle and the second vehicle based on the current location of the first vehicle;
  • the first vehicle selects the second vehicle corresponding to the minimum distance from all first distances
  • the first vehicle sends the second positioning information to the second vehicle
  • the second vehicle obtains the current location of each other second vehicle in at least one other second vehicle in the at least one second vehicle;
  • the second vehicle calculates the second distance between the second vehicle and other second vehicles based on the current location of the second vehicle;
  • the second vehicle selects other second vehicles corresponding to the minimum distance from all second distances;
  • the second vehicle sends the second positioning information to other second vehicles, and returns to S712 until all second vehicles receive the second positioning information.
  • the sending efficiency of the second positioning information can be improved.
  • the timeliness of issuance of the second positioning information is ensured, thus improving the positioning stability and work efficiency of the second vehicle.
  • FIG 8 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure. As shown in Figure 8, the positioning device includes:
  • the receiving module 801 is configured to receive the first positioning data sent by the base station through the radio, where the radio is set up within the preset range of the base station and is located between the base station and the operating area of the first vehicle;
  • the processing module 802 is configured to use real-time dynamic carrier phase difference technology to process the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle.
  • the radio station by receiving the first positioning data sent by the base station through the radio, where the radio station is set up within the preset range of the base station and is located between the base station and the operating area of the first vehicle; using The real-time dynamic carrier phase difference technology processes the first positioning data and the current positioning data of the first vehicle to obtain the first positioning information of the first vehicle, which can enable the third positioning information without increasing the construction cost and maintenance cost of the base station.
  • the first vehicle obtains centimeter-level positioning accuracy in a very short time, thus improving the positioning stability of the first vehicle and further improving the work efficiency of the first vehicle.
  • the positioning device of Figure 8 also includes: a determination module 803, wherein the receiving module 801 also receives the second positioning information sent by the cloud server through the second base station, wherein the second positioning information is the cloud server using real-time dynamics.
  • the carrier phase difference technology is used to process the second positioning data and the third positioning data.
  • the second positioning data is uploaded by the base station through the first base station, and the third positioning data is uploaded by the first vehicle through the second base station;
  • the determination module 803 is configured to determine that the first positioning information or the second positioning information is the target positioning information of the first vehicle based on the sequence of the first positioning information and the second positioning information received within the preset time interval.
  • the second positioning information includes target positioning information of at least one second vehicle in the working area.
  • the positioning device of Figure 8 further includes: a sending module 804 configured to determine that the second positioning information is the first vehicle. In the case of target positioning information, the second positioning information is sent to the second vehicle among the at least one second vehicle that is closest to the first vehicle.
  • the sending module 804 of Figure 8 obtains the current position of each second vehicle in at least one second vehicle, and calculates the first distance between the current position of the first vehicle and the current position of the second vehicle respectively; and selects the second vehicle corresponding to the minimum distance among all the first distances as the first target vehicle, and sends the second positioning information to the first target vehicle.
  • the sending module 804 of FIG. 8 also obtains the current position of each of the at least one other second vehicle in the at least one second vehicle, and respectively calculates the current position of the first target vehicle and a second distance between the current positions of other second vehicles; and selecting other second vehicles corresponding to the minimum distance among all second distances as the second target vehicle, and sending the second positioning information to the second target vehicle, And the above iterative processing process is performed until each second vehicle in the at least one second vehicle receives the second positioning information.
  • the positioning device of Figure 8 also includes: a selection module 805, wherein the receiving module 801 also receives satellite positioning data sent by at least one satellite in the global navigation satellite system; the processing module 802 also uses real-time dynamic carrier phase difference The technology processes the satellite positioning data and the current positioning data to obtain the third positioning information of the first vehicle; the selection module 805 is configured to select the third positioning information as the first positioning information when it is determined that the signal reception quality meets the preset quality requirements. Target positioning information of the vehicle; and if it is determined that the signal reception quality does not meet the preset quality requirements, select the first positioning information as the target positioning information of the first vehicle.
  • the first vehicle includes a driverless mine cart or a self-driving mine cart.
  • FIG. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
  • the electronic device 90 of this embodiment includes: a processor 901 , a memory 902 , and a computer program 903 stored in the memory 902 and capable of running on the processor 901 .
  • the processor 901 executes the computer program 903 stored in the memory 902 and capable of running on the processor 901 .
  • the processor 901 executes the computer program 903
  • the steps in each of the above method embodiments are implemented.
  • the processor 901 executes the computer program 903, it implements the functions of each module/unit in each of the above device embodiments.
  • the computer program 903 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 902 and executed by the processor 901 to complete the present disclosure.
  • One or more modules/units may be a series of computer program instruction segments capable of completing specific functions. The instruction segments are used to describe the execution process of the computer program 903 in the electronic device 90 .
  • the electronic device 90 may be a desktop computer, a notebook, a handheld computer, a cloud server, and other electronic devices.
  • Electronic device 90 may include, but is not limited to, processor 901 and memory 902.
  • FIG. 9 is only an example of the electronic device 90 and does not constitute a limitation on the electronic device 90. It may include more or fewer components than shown in the figure, or some components may be combined, or different components may be used. , for example, electronic devices may also include input and output devices, network access devices, buses, etc.
  • the processor 901 can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or an on-site processor.
  • Programmable gate array Field-Programmable Gate Array, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory 902 may be an internal storage unit of the electronic device 90 , such as a hard disk or memory of the electronic device 90 .
  • the memory 902 may also be an external storage device of the electronic device 90, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card ( Flash Card), etc.
  • the memory 902 may also include both an internal storage unit of the electronic device 90 and an external storage device.
  • Memory 902 is used to store computer programs and other programs and data required by the electronic device.
  • the memory 902 may also be used to temporarily store data that has been output or is to be output.
  • Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.
  • Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.
  • the specific names of each functional unit and module are only for the convenience of distinguishing each other and are not used to limit the scope of the present disclosure. For the specific working processes of the units and modules in the above system, please refer to the corresponding processes in the foregoing method embodiments, and will not be described again here.
  • the disclosed devices/electronic devices and methods can be implemented in other ways.
  • the apparatus/electronic equipment embodiments described above are only illustrative.
  • the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, and multiple units or components may be The combination can either be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.
  • a unit described as a separate component may or may not be physically separate.
  • a component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • Integrated modules/units can be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, the present disclosure can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium, and the computer program can be processed after being processed. When the processor is executed, the steps of each of the above method embodiments can be implemented.
  • a computer program may include computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • Computer-readable media can include: any entity or device that can carry computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (Read-Only Memory, ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium is not Including electrical carrier signals and telecommunications signals.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Sont divulgués un procédé et un appareil de positionnement, ainsi qu'un dispositif électronique et un support de stockage associés. Le procédé est appliqué à un véhicule sans pilote, à savoir un dispositif de conduite sans pilote ou un dispositif de conduite autonome. Le procédé consiste : à recevoir des premières données de positionnement qui sont envoyées par une station de référence au moyen d'une station radio, la station radio étant érigée dans une plage prédéfinie de la station de référence et située entre la station de référence et une zone de fonctionnement d'un premier véhicule (S301) ; et à traiter les premières données de positionnement et les données de positionnement en cours du premier véhicule au moyen d'une technologie de différence de phase de porteuse cinématique en temps réel, de sorte à obtenir des premières informations de positionnement du premier véhicule (S302). Le procédé divulgué permet au premier véhicule d'obtenir une précision de positionnement à l'échelle du centimètre dans un court laps de temps sans augmenter les coûts de construction ni les coûts de maintenance de la station de référence, de sorte que la stabilité de positionnement ainsi que l'efficacité de fonctionnement du premier véhicule sont améliorées.
PCT/CN2022/143152 2022-09-13 2022-12-29 Procédé et appareil de positionnement, dispositif électronique et support de stockage associés WO2024055473A1 (fr)

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